31 citations · 43 across the 5 of their papers we have counts for
6 papers
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
Simon Stepputtis, Maryam Bandari, Stefan Schaal +1
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich…
Detection and Physical Interaction with Deformable Linear Objects
Azarakhsh Keipour, Mohammadreza Mousaei, Maryam Bandari +2
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with…
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation
Azarakhsh Keipour, Maryam Bandari, Stefan Schaal
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched re…
Deformable One-Dimensional Object Detection for Routing and Manipulation
Azarakhsh Keipour, Maryam Bandari, Stefan Schaal
Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the ex…
Multi-Task Learning with Sequence-Conditioned Transporter Networks
Michael H. Lim, Andy Zeng, Brian Ichter +5
Enabling robots to solve multiple manipulation tasks has a wide range of industrial applications. While learning-based approaches enjoy flexibility and generalizability, scaling th…
Neural Collision Clearance Estimator for Batched Motion Planning
J. Chase Kew, Brian Ichter, Maryam Bandari +2
We present a neural network collision checking heuristic, ClearanceNet, and a planning algorithm, CN-RRT. ClearanceNet learns to predict separation distance (minimum distance betwe…